US6003377A - Method for measuring the thickness of plate constructions and pipe - Google Patents

Method for measuring the thickness of plate constructions and pipe Download PDF

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Publication number
US6003377A
US6003377A US08/921,761 US92176197A US6003377A US 6003377 A US6003377 A US 6003377A US 92176197 A US92176197 A US 92176197A US 6003377 A US6003377 A US 6003377A
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United States
Prior art keywords
data
self
thickness
plate
spots
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Expired - Lifetime
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US08/921,761
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English (en)
Inventor
Tor Inge Waag
Anette Olsen
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Red Band AS
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Red Band AS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/07—Analysing solids by measuring propagation velocity or propagation time of acoustic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/04—Wave modes and trajectories
    • G01N2291/044—Internal reflections (echoes), e.g. on walls or defects

Definitions

  • the present invention concerns a method for automatic state control, inspection, cleaning and/or surface treatment of structures, especially measuring the thickness of plate constructions and pipes by transmitting ultrasound signals from at least one transmitter and receiving the ultrasound signals from at least one receiver, where the transmitter and receiver are mounted to a self-propelled, remote controlled unit, and where a liquid membrane is present between the transmitter and the surface of the structure.
  • the thickness of marine steel constructions such as ships and drilling plateforms are measured by manual spot measurements (sampling test according to a certain system) which are conducted from the interior or from the exterior by a diver with a hand held measuring apparatus when the ship is in harbor. Interior measurements may also be performed in empty tanks during transit.
  • the prior method has obvious disadvantages. Full coverage of the hull of the ship is not achieved, and selection of the position of the measurement spot is a subjective judgment.
  • the strength of the reflected ultrasound signal is highly dependent upon the condition of the rear wall, and in areas having corrosion pitting (a common and dangerous phenomenon), the distance between areas having full remaining thickness and areas corroded close to the danger point will be small. Between these adjacent extremes of thickness, the rear wall will necessarily slant.
  • the transmitted signal will thus mainly be reflected to the side of the receiver which only receives a weak signal.
  • the inspector is taught to reject weak measurements in accordance with certain criteria. By moving the measuring probe a few centimeters, the inspector will register a strong signal from an almost flat rear wall with full plate thickness.
  • the ship may then pass the control, and the shipowner has got poor basis for decisions concerning preventive maintenance on the ship. At a later docking, the actual situation will become clear, and the subsequent remedial work will be alot more expensive than planned.
  • the object of the invention is achieved with a method for automatic state control, inspection, cleaning and/or surface treatment of structures, especially measuring the thickness of plate constructions and pipes, by transmitting ultrasound signals from at least one transmitter and receiving the ultrasound signals from at least one receiver, where the transmitter and receiver are mounted to a self-propelled, remote controlled unit, and where a liquid membrane is present between the transmitter and the surface of the structure.
  • FIG. 1 shows an example of a device for carrying out the invention
  • FIG. 2 shows a graphic representation of a received reflected signal in one measurement spot, wherein the x-axis denotes the time for transmitted signal and the y-axis denotes the strength of the signal;
  • FIG. 3 shows a plate part having different thickness due to corrosion pitting
  • FIG. 4 shows the plate part in FIG. 3, measured according to the present invention, and displayed in a gray scale
  • FIG. 5 shows the plate part in FIG. 3, measured according to the present invention, and displayed as a contour map, and;
  • FIG. 6 shows the plate part in FIG. 3, measured according to the present invention, and displayed as a topographic terrain model.
  • the invention is explained in connection with ultrasound measurement of a ship's hull.
  • the invention can also be adapted for use in connection with other marine steel constructions, or constructions in other materials.
  • a self-propelled unit 1 having three wheels 2 and 3 mounted to a frame 4.
  • a measuring beam 5 To the frame 4 is also mounted a measuring beam 5 and a steering arm 8, which steering arm extends from and transverse to the middle section of the measuring beam.
  • the unit 1 is operated by at least one motor (not shown).
  • the two wheels 3 are situated one at each end of the measuring beam 5 and the wheel 2 is situated at the free end of the steering arm 8.
  • the measuring beam extends perpendicular to the direction of movement of the unit 1, and the steering arm 8 extends along the direction of movement.
  • a number of ultrasound probes 6 are mounted to the measuring beam 5. In a preferred embodiment, 16 such probes 6 are used.
  • the probes 6 are connected to a computer 7 located in a cylinder situated parallel to the measuring beam 5. From the computer 7, a cable extends to a further computer on-board the ship.
  • buoyancy cushions 10 situated in boxes 11.
  • the buoyancy of the cushions 10 may be regulated by an air supply from an air tank (not shown), and outlet from an override pressure relief valve.
  • the equipment initially has a neutral buoyancy in water.
  • the unit 1 In use, the unit 1 is situated under a ship hull by a diver.
  • the diver also has site positioning lights under the ship, for example, one light in three corners of a rectangular operation area.
  • the unit 1 is located in a known initial spot.
  • the computer 7 By means of the computer 7, the unit, oriented by means of the positioning lights, is guided back and forth along the bottom of the ship.
  • Each of the probes 6 transmits signals against the plate being measured.
  • the signal is transmitted as a pulse, and the reflected signal is registered and stored.
  • Transmitter and receiver may be one and the same unit, which is electronically switched from transmission to reception.
  • the total wave for the reflected signal is stored, not only transit time for the different parts of the signal. This renders possible any post-processing for quality control. This demands that a computer is available in the vicinity of the probes.
  • FIG. 2 shows a received reflected signal.
  • the y-axis denotes the signal strength, which is a representation of the degree of reflection.
  • the x-axis denotes the progress of the reflected signal on a time basis. Considering the velocity of the ultrasound signal, the time axis will represent a measure of the thickness at the measuring spots.
  • the area in FIG. 2 which is marked R 1 is descended from the measuring on the outside of the steel plate. This area contains components which have travelled back and forth several times in the paint layer.
  • the area R 2 shows the reflected signal from the outside of the steel plate, whereas R 3 shows the signal being reflected from the rear wall of the plate.
  • R 4 and R 5 respectively show second and third order reflections from the rear wall. It should also be noted that it is a constant interval between R 2 , R 3 , R 4 , and R 5 .
  • the signal progress shown in FIG. 2 is typical for a reflected signal from a measured steel plate of a certain dimension.
  • the reflected signal may be weaker. This applies, for example, when a weaker section of a plate has a slanted surface.
  • the main part of the reflected signal will then be directed away from the probe transmitting the signal. Some of the reflected signal will be received by the probe 6, but it will be a weak signal. By manual measurement, such signals will be rejected.
  • the reflected signal will be processed, or treated on the basis of stored raw data. This is achieved by two and three dimensional filtering.
  • Two dimensional filtering is a method known from processing of seismic data. It aims at adapting conventional filtering techniques (smoothing, removal of noise or unwanted frequency components, increasing wanted frequency components) usually being utilized for one dimensional time series of data, for a collection of such one dimensional time series of data, for example, samples in adjacent spots along a line.
  • the data set is then called two dimensional, as the time axis is the first dimension and the location axis is the other dimension.
  • Two and three dimensional filtering can be used, for example, for smoothing and removal of noise or to increase certain trends in the data set along the first or the second axis (location or time), or in a diagonal direction in the reference frame.
  • Frequency analysis may be conducted along a free number of axes in this system in order to emphasize certain characteristic properties in the data set.
  • FIG. 4 shows a presentation of the plate part of FIG. 2, after being measured according to the present invention. The result is presented in a gray scale, where lighter shade means thicker plate.
  • the spots 20, 21, 22, and 23 are marked. It may be seen that spots 20-22 are completely black, indicating very thin sections. Furthermore, spot 23 is completely white, indicating a very thick section. However, it may be seen for all these spots that it is not an even transition from one spot to the next. It is therefore reasonable to believe that these are erroneous measurements. These will be eliminated by three dimensional filtering according to the present invention.
  • FIGS. 5 and 6 are representations as a contour map and a terrain model, respectively. If the terrain mode in FIG. 6 is compared with the photo in FIG. 3, it can be seen that the spots probably are erroneous measurements.
  • the unit 1 has comparatively small dimensions, a preferred embodiment has a width of a little more than one and a half meters. This implies that the equipment can be easily transported and may, for example, be transported by an airplane.
  • the total ship may be covered with a sufficient degree of accuracy to map corrosion pitting during a period corresponding to a normal load/unload time (24 hours).
  • the unit may be operated independently of a diver by using thrusters for propulsion.
  • the unit 1 is also devised to be able to carry other inspecting systems, such as video inspection, or conduct other relevant tasks below the ship, such as cleaning. If the equipment is to be used on the side of the ship, attachment/propulsion may be achieved by means of magnets.
  • the equipment can also be operated above the surface. In order to achieve sufficient transmission of the ultrasound signal, it is preferred to flush with water between the ship's side and the probes.
  • a map of the ship may be produced, and structural elements such as ribs, struttings and plate joints can be drawn in where detected. This map may be later used for self-positioning the unit 1 by means of the illustrated structural elements. During later measurements, a map of the thickness of the ship can be compared with the constructional drawings, so that certain plates or hull components can be identified for replacement.
  • full ultrasound waveforms are stored (not only the transit time) for any required post-processing.
  • the system has sufficient solution in thickness and sufficient accuracy in positioning for subtraction of measurements taken at different points in time provides the time progress of corrosion.
  • a computer on the deck can operate in tandem with the submerged computer, so that a large amount of data can be stored on replaceable media (replaceable discs, disc tape, optical discs, etc.).
  • replaceable media replaceable discs, disc tape, optical discs, etc.
  • the rate of coverage, or the distance of the spot measurements can be automatically varied by the unit on the basis of the statistic properties of the data.
  • the inspection may take place faster over homogenous areas of good quality, whereas areas with larger deviations in thickness or signal strength should be examined closer.
  • it is a substantial point that sufficient data is collected, so that it is not necessary to return to conduct further examinations.
  • the device may also be used upon other materials, such as plastics, glass fiber reinforced plastics, aluminum, etc.
  • the device may also be used for inspection in pipes, tanks, and so on.

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  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Control Of Metal Rolling (AREA)
  • Manufacture Of Electron Tubes, Discharge Lamp Vessels, Lead-In Wires, And The Like (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
US08/921,761 1993-04-02 1997-08-26 Method for measuring the thickness of plate constructions and pipe Expired - Lifetime US6003377A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO931295A NO179926C (no) 1993-04-02 1993-04-02 Framgangsmåte for automatisk tilstandskontroll, inspeksjon, rengjöring og/eller overflatebehandling av strukturer, særlig tykkelsesmåling av platekonstruksjoner og rör
NO931295 1993-04-02

Related Parent Applications (1)

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US08530347 Continuation 1996-01-16

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US (1) US6003377A (de)
EP (1) EP0698219B1 (de)
JP (1) JPH09502255A (de)
KR (1) KR100314859B1 (de)
CN (1) CN1043379C (de)
AT (1) ATE193604T1 (de)
AU (1) AU687048B2 (de)
CA (1) CA2159708C (de)
DE (1) DE69424785T2 (de)
DK (1) DK0698219T3 (de)
ES (1) ES2148324T3 (de)
GR (1) GR3034209T3 (de)
NO (1) NO179926C (de)
PT (1) PT698219E (de)
WO (1) WO1994023311A1 (de)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001086280A1 (en) * 2000-05-08 2001-11-15 Abb Ab A method of measuring topography in an interface and use of the method for a high-voltage cable
US6487518B1 (en) * 1999-06-24 2002-11-26 Hitachi, Ltd. Thickness reducing management system for pipes in pipe lines
US6497159B1 (en) 2000-06-12 2002-12-24 Hydro-Quebec Bracelet for moving ultrasonic sensors along a pipe
US6571635B1 (en) * 1998-09-03 2003-06-03 BALTZERSEN øYSTEIN Method and arrangement for inspection of buoyant objects
US20060048589A1 (en) * 2003-01-08 2006-03-09 Eric Lavoie Apparatus for moving a measuring device along a pipe
US20060060123A1 (en) * 2000-05-24 2006-03-23 Tapiren Survey System Ab Method and arrangement for inspection of an object
US20090147270A1 (en) * 2007-12-07 2009-06-11 Dirk Lehmann System and method for investigating and/or determining the condition or state of a ship's hull
GB2491978A (en) * 2011-06-14 2012-12-19 Boeing Co Autonomous non-destructive evaluation testing system for aircraft structures
US9250213B1 (en) 2011-06-14 2016-02-02 The Boeing Company Ultrasound inspection system for inspecting a test object with non-planar features
US9414026B2 (en) 2013-01-25 2016-08-09 The Boeing Company System and method for automated crack inspection and repair
CN113728227A (zh) * 2019-04-17 2021-11-30 Dmc全球公司 识别多层制品中健全结合和薄弱结合之间结合边界的方法和系统

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO179926C (no) * 1993-04-02 1998-03-11 Red Band As Framgangsmåte for automatisk tilstandskontroll, inspeksjon, rengjöring og/eller overflatebehandling av strukturer, særlig tykkelsesmåling av platekonstruksjoner og rör
US6317387B1 (en) 1997-11-20 2001-11-13 D'amaddio Eugene R. Method and apparatus for inspecting a submerged structure
NO312567B2 (no) 1999-05-27 2002-05-27 Halfwave As Fremgangsmate ved maling av materialtykkelsesfordeling
JP4888484B2 (ja) * 2007-01-11 2012-02-29 東芝三菱電機産業システム株式会社 金属材料の組織材質計測装置
CN105124745B (zh) * 2015-08-31 2016-11-16 中国烟草总公司广东省公司 一种烟叶分级中烟叶厚度的检测方法
FR3080453B1 (fr) * 2018-04-23 2020-05-01 Safran Procede et systeme de controle non destructif d'une piece mecanique

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GB2076154A (en) * 1980-05-19 1981-11-25 Neratoom System for measuring the wall thickness of an object
US4441369A (en) * 1982-09-30 1984-04-10 General Electric Company Ultrasonic detection of extended flaws
EP0139867A2 (de) * 1983-08-25 1985-05-08 Combustion Engineering, Inc. System zur Feststellung von Fehlstellen nahe der Oberfläche
US4596144A (en) * 1984-09-27 1986-06-24 Canadian Corporate Management Co., Ltd. Acoustic ranging system
US4799177A (en) * 1985-12-31 1989-01-17 The Boeing Company Ultrasonic instrumentation for examination of variable-thickness objects
EP0352117A2 (de) * 1988-07-22 1990-01-24 Akademiet For De Tekniske Videnskaber, Svejsecentralen Verfahren zur Analyse und Auswertung der Ergebnisse einer Ultraschalluntersuchung
US5047990A (en) * 1990-06-01 1991-09-10 The United States Of America As Represented By The Secretary Of The Navy Underwater acoustic data acquisition system
WO1994023311A1 (en) * 1993-04-02 1994-10-13 Sinvent A.S Method for i.a. mesuring the thickness of plate constructions and pipes

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4212258A (en) * 1978-05-12 1980-07-15 International Submarine Services, S.A. Underwater apparatus for acoustically inspecting a submerged object
GB2076154A (en) * 1980-05-19 1981-11-25 Neratoom System for measuring the wall thickness of an object
US4441369A (en) * 1982-09-30 1984-04-10 General Electric Company Ultrasonic detection of extended flaws
EP0139867A2 (de) * 1983-08-25 1985-05-08 Combustion Engineering, Inc. System zur Feststellung von Fehlstellen nahe der Oberfläche
US4596144A (en) * 1984-09-27 1986-06-24 Canadian Corporate Management Co., Ltd. Acoustic ranging system
US4596144B1 (en) * 1984-09-27 1995-10-10 Federal Ind Ind Group Inc Acoustic ranging system
US4799177A (en) * 1985-12-31 1989-01-17 The Boeing Company Ultrasonic instrumentation for examination of variable-thickness objects
EP0352117A2 (de) * 1988-07-22 1990-01-24 Akademiet For De Tekniske Videnskaber, Svejsecentralen Verfahren zur Analyse und Auswertung der Ergebnisse einer Ultraschalluntersuchung
US5047990A (en) * 1990-06-01 1991-09-10 The United States Of America As Represented By The Secretary Of The Navy Underwater acoustic data acquisition system
WO1994023311A1 (en) * 1993-04-02 1994-10-13 Sinvent A.S Method for i.a. mesuring the thickness of plate constructions and pipes

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6571635B1 (en) * 1998-09-03 2003-06-03 BALTZERSEN øYSTEIN Method and arrangement for inspection of buoyant objects
US6487518B1 (en) * 1999-06-24 2002-11-26 Hitachi, Ltd. Thickness reducing management system for pipes in pipe lines
WO2001086280A1 (en) * 2000-05-08 2001-11-15 Abb Ab A method of measuring topography in an interface and use of the method for a high-voltage cable
US20060060123A1 (en) * 2000-05-24 2006-03-23 Tapiren Survey System Ab Method and arrangement for inspection of an object
US7044074B2 (en) * 2000-05-24 2006-05-16 Tapiren Survey System Ab Method and arrangement for inspection of an object
US6497159B1 (en) 2000-06-12 2002-12-24 Hydro-Quebec Bracelet for moving ultrasonic sensors along a pipe
US20060048589A1 (en) * 2003-01-08 2006-03-09 Eric Lavoie Apparatus for moving a measuring device along a pipe
US7284456B2 (en) 2003-01-08 2007-10-23 Hydro-Quebec Of Montreal Apparatus for moving a measuring device along a pipe
US20090147270A1 (en) * 2007-12-07 2009-06-11 Dirk Lehmann System and method for investigating and/or determining the condition or state of a ship's hull
SG152968A1 (en) * 2007-12-07 2009-06-29 Becker Marine Sys Gmbh & Co Kg System and method for investigating and/or determining the condition or state of a shipæs hull
GB2491978A (en) * 2011-06-14 2012-12-19 Boeing Co Autonomous non-destructive evaluation testing system for aircraft structures
GB2491978B (en) * 2011-06-14 2013-05-08 Boeing Co Autonomous non-destructive evaluation system for aircraft structures
US8713998B2 (en) 2011-06-14 2014-05-06 The Boeing Company Autonomous non-destructive evaluation system for aircraft structures
US9234904B2 (en) 2011-06-14 2016-01-12 The Boeing Company Autonomous non-destructive evaluation system for aircraft structures
US9250213B1 (en) 2011-06-14 2016-02-02 The Boeing Company Ultrasound inspection system for inspecting a test object with non-planar features
US9414026B2 (en) 2013-01-25 2016-08-09 The Boeing Company System and method for automated crack inspection and repair
CN113728227A (zh) * 2019-04-17 2021-11-30 Dmc全球公司 识别多层制品中健全结合和薄弱结合之间结合边界的方法和系统
EP3956658A4 (de) * 2019-04-17 2022-12-21 DMC Global Inc. Verfahren und system zur identifizierung einer bindungsgrenze zwischen einer festen bindung und einer schwachen bindung in einem mehrschichtigen gegenstand
US12111290B2 (en) 2019-04-17 2024-10-08 Dmc Global Inc. Method and system of identifying a bond boundary between a sound bond and a weak bond in a multilayer article

Also Published As

Publication number Publication date
NO931295D0 (no) 1993-04-02
DK0698219T3 (da) 2000-10-30
EP0698219B1 (de) 2000-05-31
KR100314859B1 (ko) 2002-03-21
CA2159708A1 (en) 1994-10-13
WO1994023311A1 (en) 1994-10-13
ES2148324T3 (es) 2000-10-16
EP0698219A1 (de) 1996-02-28
ATE193604T1 (de) 2000-06-15
NO179926B (no) 1996-09-30
PT698219E (pt) 2000-11-30
JPH09502255A (ja) 1997-03-04
NO931295L (no) 1994-10-03
AU6514094A (en) 1994-10-24
CN1043379C (zh) 1999-05-12
NO179926C (no) 1998-03-11
CN1120369A (zh) 1996-04-10
DE69424785T2 (de) 2000-11-30
AU687048B2 (en) 1998-02-19
DE69424785D1 (de) 2000-07-06
KR960702113A (ko) 1996-03-28
CA2159708C (en) 2003-09-23
GR3034209T3 (en) 2000-12-29

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